Difference between revisions of "Skinning"

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m (Fix spelling error)
(Fix missing <source> lines by putting whole example in single nowiki block.)
 
Line 8: Line 8:
  
  
  <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+
  <nowiki><COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
 
   <asset>
 
   <asset>
 
     <contributor>
 
     <contributor>
Line 66: Line 66:
 
   </library_effects>
 
   </library_effects>
 
   <library_geometries>
 
   <library_geometries>
   <nowiki><!-- *******************************************************************************************
+
   <!-- *******************************************************************************************
 
   This is a pretty standard mesh for use in our skin sample.  It's a 6 sided cylinder
 
   This is a pretty standard mesh for use in our skin sample.  It's a 6 sided cylinder
 
   divided into 6 sections with a total of 42 vertices.
 
   divided into 6 sections with a total of 42 vertices.
   *******************************************************************************************  --></nowiki>
+
   *******************************************************************************************  -->
 
     <geometry id="pCylinderShape1" name="pCylinderShape1">
 
     <geometry id="pCylinderShape1" name="pCylinderShape1">
 
       <mesh>
 
       <mesh>
Line 168: Line 168:
 
   </library_geometries>
 
   </library_geometries>
 
   <library_controllers>
 
   <library_controllers>
   <nowiki><!-- *******************************************************************************************
+
   <!-- *******************************************************************************************
 
   This is the start of the controller that takes the geometry in pCylinderShape1 and defines
 
   This is the start of the controller that takes the geometry in pCylinderShape1 and defines
 
   how to skin it.
 
   how to skin it.
   ******************************************************************************************* --></nowiki>
+
   ******************************************************************************************* -->
 
     <controller id="pCylinderShape1-skin" name="skinCluster1">
 
     <controller id="pCylinderShape1-skin" name="skinCluster1">
 
       <skin source="#pCylinderShape1">
 
       <skin source="#pCylinderShape1">
   <nowiki><!-- *******************************************************************************************
+
   <!-- *******************************************************************************************
 
   The bind shape matrix describes how to transform the pCylinderShape1 geometry into the right
 
   The bind shape matrix describes how to transform the pCylinderShape1 geometry into the right
 
   coordinate system for use with the joints.  In this case we do an +90 Y transform because
 
   coordinate system for use with the joints.  In this case we do an +90 Y transform because
 
   the pCylinderShape1 geometry was initially a 180 unit long cylinder with 0,0,0 at it's center.
 
   the pCylinderShape1 geometry was initially a 180 unit long cylinder with 0,0,0 at it's center.
 
   This moves it so 0,0,0 is at the base of the cylinder.
 
   This moves it so 0,0,0 is at the base of the cylinder.
   ******************************************************************************************* --></nowiki>
+
   ******************************************************************************************* -->
 
         <bind_shape_matrix>
 
         <bind_shape_matrix>
 
           1 0 0 0  
 
           1 0 0 0  
Line 186: Line 186:
 
           0 0 0 1
 
           0 0 0 1
 
         </bind_shape_matrix>
 
         </bind_shape_matrix>
   <nowiki><!-- *******************************************************************************************
+
   <!-- *******************************************************************************************
 
   This source contains a list of the SIDs of the 7 joints that will influence the skin.  You
 
   This source contains a list of the SIDs of the 7 joints that will influence the skin.  You
 
   can also use an IDREF_Array here but use of SIDs is preferred because they allow a controller
 
   can also use an IDREF_Array here but use of SIDs is preferred because they allow a controller
 
   to be used several times with different skeletons.
 
   to be used several times with different skeletons.
   ******************************************************************************************* --></nowiki>
+
   ******************************************************************************************* -->
 
         <source id="pCylinderShape1-skin-joints">
 
         <source id="pCylinderShape1-skin-joints">
 
           <Name_array id="pCylinderShape1-skin-joints-array" count="7">joint1 joint2 joint3
 
           <Name_array id="pCylinderShape1-skin-joints-array" count="7">joint1 joint2 joint3
Line 200: Line 200:
 
           </technique_common>
 
           </technique_common>
 
         </source>
 
         </source>
   <nowiki><!-- *******************************************************************************************
+
   <!-- *******************************************************************************************
 
   This source defines the inverse bind matrix for each joint, these are used to bring  
 
   This source defines the inverse bind matrix for each joint, these are used to bring  
 
   coordinates being skinned into the same space as each joint.  Note that in this case the
 
   coordinates being skinned into the same space as each joint.  Note that in this case the
 
   joints begin at 0,0,0 and move up 30 units for each joint, so the inverse bind matrices
 
   joints begin at 0,0,0 and move up 30 units for each joint, so the inverse bind matrices
 
   are the opposite of that.
 
   are the opposite of that.
   ******************************************************************************************* --></nowiki>
+
   ******************************************************************************************* -->
 
         <source id="pCylinderShape1-skin-bind_poses">
 
         <source id="pCylinderShape1-skin-bind_poses">
 
           <float_array id="pCylinderShape1-skin-bind_poses-array" count="112">
 
           <float_array id="pCylinderShape1-skin-bind_poses-array" count="112">
Line 249: Line 249:
 
           </technique_common>
 
           </technique_common>
 
         </source>
 
         </source>
   <nowiki><!-- *******************************************************************************************
+
   <!-- *******************************************************************************************
 
   This source defines a weight for each vertex and each joint.  The weight defines how much
 
   This source defines a weight for each vertex and each joint.  The weight defines how much
 
   a particular joint will contribute to moving a particular vertex's position.  This allows
 
   a particular joint will contribute to moving a particular vertex's position.  This allows
Line 260: Line 260:
 
   represents the closest joint to the vertex and has the largest value, the remaining 4 weights
 
   represents the closest joint to the vertex and has the largest value, the remaining 4 weights
 
   get smaller and smaller as the associated joint gets farther from the vertex.
 
   get smaller and smaller as the associated joint gets farther from the vertex.
   ******************************************************************************************* --></nowiki>
+
   ******************************************************************************************* -->
 
         <source id="pCylinderShape1-skin-weights">
 
         <source id="pCylinderShape1-skin-weights">
 
           <float_array id="pCylinderShape1-skin-weights-array" count="211">1 0.648726 0.265718
 
           <float_array id="pCylinderShape1-skin-weights-array" count="211">1 0.648726 0.265718
Line 294: Line 294:
 
           <input semantic="INV_BIND_MATRIX" source="#pCylinderShape1-skin-bind_poses"></input>
 
           <input semantic="INV_BIND_MATRIX" source="#pCylinderShape1-skin-bind_poses"></input>
 
         </joints>
 
         </joints>
   <nowiki><!-- *******************************************************************************************
+
   <!-- *******************************************************************************************
 
   The vertex_weights tag associates the weights and joints from the previously defined
 
   The vertex_weights tag associates the weights and joints from the previously defined
 
   sources with the vertices in the geometry being skinned.  Each entry in this list matches
 
   sources with the vertices in the geometry being skinned.  Each entry in this list matches
Line 303: Line 303:
 
   on that vertex.  In this case every vertex has 5 influences.  The values in the <v> array
 
   on that vertex.  In this case every vertex has 5 influences.  The values in the <v> array
 
   are the indices of the joint and weight that make up that influence.
 
   are the indices of the joint and weight that make up that influence.
   ******************************************************************************************* --></nowiki>
+
   ******************************************************************************************* -->
 
         <vertex_weights count="42">
 
         <vertex_weights count="42">
 
           <input semantic="JOINT" source="#pCylinderShape1-skin-joints" offset="0"></input>
 
           <input semantic="JOINT" source="#pCylinderShape1-skin-joints" offset="0"></input>
Line 328: Line 328:
 
   <library_visual_scenes>
 
   <library_visual_scenes>
 
     <visual_scene id="VisualSceneNode" name="bind_sample">
 
     <visual_scene id="VisualSceneNode" name="bind_sample">
   <nowiki><!-- *******************************************************************************************
+
   <!-- *******************************************************************************************
 
   This is the node hierarchy that represents the skeleton of the skinned object.
 
   This is the node hierarchy that represents the skeleton of the skinned object.
 
   The first node has an ID to act as a starting point for SID searches, the rest
 
   The first node has an ID to act as a starting point for SID searches, the rest
Line 338: Line 338:
 
   In this example the root joint of the skeleton is 20 units above the ground.   
 
   In this example the root joint of the skeleton is 20 units above the ground.   
 
   All the other joints are 30 units apart in the Y direction.
 
   All the other joints are 30 units apart in the Y direction.
   ******************************************************************************************* --></nowiki>
+
   ******************************************************************************************* -->
 
       <node id="skeleton_root" name="joint1" sid="joint1" type="JOINT">
 
       <node id="skeleton_root" name="joint1" sid="joint1" type="JOINT">
 
         <translate sid="translate">0 20 0</translate>
 
         <translate sid="translate">0 20 0</translate>
Line 344: Line 344:
 
         <rotate sid="jointOrientY">0 1 0 0</rotate>
 
         <rotate sid="jointOrientY">0 1 0 0</rotate>
 
         <rotate sid="jointOrientX">1 0 0 0</rotate>
 
         <rotate sid="jointOrientX">1 0 0 0</rotate>
   <nowiki><!-- *******************************************************************************************
+
   <!-- *******************************************************************************************
 
   Some people try to put the instance_controller here.  This will not work correctly for
 
   Some people try to put the instance_controller here.  This will not work correctly for
 
   a skin because the skinning process has already transformed all the vertices using the
 
   a skin because the skinning process has already transformed all the vertices using the
Line 351: Line 351:
 
   instance_controller here, the geometry coming out of it would be transformed (again) by  
 
   instance_controller here, the geometry coming out of it would be transformed (again) by  
 
   this node, moving it up an additional 20 units.  
 
   this node, moving it up an additional 20 units.  
   ******************************************************************************************* --></nowiki>
+
   ******************************************************************************************* -->
 
         <node name="joint2" sid="joint2" type="JOINT">
 
         <node name="joint2" sid="joint2" type="JOINT">
 
           <translate sid="translate">0 30 0</translate>
 
           <translate sid="translate">0 30 0</translate>
Line 390: Line 390:
 
         </node>
 
         </node>
 
       </node>
 
       </node>
   <nowiki><!-- *******************************************************************************************
+
   <!-- *******************************************************************************************
 
   This node is where the skinned geometry is instantiated.  The geometry that comes out
 
   This node is where the skinned geometry is instantiated.  The geometry that comes out
 
   of a skin controller has already been transformed by the joints referenced in the skin
 
   of a skin controller has already been transformed by the joints referenced in the skin
 
   which puts the geometry in world space.  This is why we are instantiating the skin at
 
   which puts the geometry in world space.  This is why we are instantiating the skin at
 
   the root of the hierarchy rather than up in the "skeleton_root" node
 
   the root of the hierarchy rather than up in the "skeleton_root" node
   ******************************************************************************************* --></nowiki>
+
   ******************************************************************************************* -->
 
       <node id="pCylinder1" name="pCylinder1" type="NODE">
 
       <node id="pCylinder1" name="pCylinder1" type="NODE">
 
         <instance_controller url="#pCylinderShape1-skin">
 
         <instance_controller url="#pCylinderShape1-skin">
   <nowiki><!-- *******************************************************************************************
+
   <!-- *******************************************************************************************
 
   The skeleton tag tells the controller where it should start searching for any SIDs found
 
   The skeleton tag tells the controller where it should start searching for any SIDs found
 
   in the skin.  This allows the same controller to be re-used with different joint hierarchies.
 
   in the skin.  This allows the same controller to be re-used with different joint hierarchies.
   ******************************************************************************************* --></nowiki>
+
   ******************************************************************************************* -->
 
           <skeleton>#skeleton_root</skeleton>
 
           <skeleton>#skeleton_root</skeleton>
 
           <bind_material>
 
           <bind_material>
Line 421: Line 421:
 
     <instance_visual_scene url="#VisualSceneNode"></instance_visual_scene>
 
     <instance_visual_scene url="#VisualSceneNode"></instance_visual_scene>
 
   </scene>
 
   </scene>
  </COLLADA>
+
  </COLLADA></nowiki>
  
 
[[Category:COLLADA tutorials]]
 
[[Category:COLLADA tutorials]]

Latest revision as of 00:17, 4 July 2019

Tutorials
This article is one several tutorials, guides, and annotated examples available in this wiki.
Multipage tutorials:  • COLLADA DOM user guide
Shorter how-tos:  • Using accessors  • Schema validation • Using URIs
 • Various annotated examples

Instructions for adding a tutorial

[[Category: ]]


This is an example of skinning in COLLADA.

The file contains a six-sided cylinder that has been divided into 6 vertical segments. Running up the centerline of the cylinder is a hierarchy of seven <node>s that form the skeleton of the model. The cylinder has been skinned to this skeleton. As provided in the file, the <node> rotations are all set to zero so the skeleton is a straight line and the cylinder is not bent. Changing the position/rotation of any of these <nodes> will cause the cylinder to bend to follow the shape of the skeleton. The "nearest node" method was used to calculate the weights in the skin controller; this means that every vertex of the cylinder is influenced by the transforms of the five <node>s closest to it.

The closer a vertex is to a particular <node>, the more it is affected by the transforms in that <node>. If you have a viewer or DCC tool that supports skinning, you can load this file and bend the skeleton to see how it works. To keep things easy to read, this example contains only 42 vertices and 38 faces. Because there is such a small number of faces, the cylinder may appear to pinch or distort when you bend the skeleton. Normally a model like this that was being skinned would have two or four times as many faces, which would allow it to bend more smoothly.


<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
  <asset>
    <contributor>
      <author>gcorson</author>
      <authoring_tool>Maya 8.0 | ColladaMaya v3.02 | FCollada v3.2</authoring_tool>
      <comments>Collada Maya Export Options: bakeTransforms=0;exportPolygonMeshes=1;bakeLighting=0;isSampling=0;
 curveConstrainSampling=0;exportCameraAsLookat=0;
 exportLights=1;exportCameras=1;exportJointsAndSkin=1;
 exportAnimations=1;exportTriangles=0;exportInvisibleNodes=0;
 exportNormals=1;exportTexCoords=1;exportVertexColors=1;exportTangents=0;
 exportTexTangents=0;exportConstraints=1;exportPhysics=0;exportXRefs=1;
 dereferenceXRefs=0;cameraXFov=0;cameraYFov=1</comments>
      <source_data>
 file:///C:/Documents%20and%20Settings/gcorson/Desktop/Physics%20Tests/New_Project/scenes/bind%20sample.mb
      </source_data>
    </contributor>
    <created>2007-04-04T23:08:51Z</created>
    <modified>2007-04-04T23:08:51Z</modified>
    <unit meter="0.01" name="centimeter"></unit>
    <up_axis>Y_UP</up_axis>
  </asset>
  <library_materials>
    <material id="lambert1" name="lambert1">
      <instance_effect url="#lambert1-fx"></instance_effect>
    </material>
  </library_materials>
  <library_effects>
    <effect id="lambert1-fx">
      <profile_COMMON>
        <technique sid="common">
          <lambert>
            <emission>
              <color>0 0 0 1</color>
            </emission>
            <ambient>
              <color>0 0 0 1</color>
            </ambient>
            <diffuse>
              <color>0.5 0.5 0.5 1</color>
            </diffuse>
            <transparent opaque="A_ONE">
              <color>0 0 0 1</color>
            </transparent>
            <transparency>
              <float>1</float>
            </transparency>
            <index_of_refraction>
              <float>1</float>
            </index_of_refraction>
          </lambert>
          <extra>
            <technique profile="FCOLLADA"></technique>
          </extra>
        </technique>
      </profile_COMMON>
    </effect>
  </library_effects>
  <library_geometries>
  <!-- *******************************************************************************************
  This is a pretty standard mesh for use in our skin sample.  It's a 6 sided cylinder
  divided into 6 sections with a total of 42 vertices.
  *******************************************************************************************  -->
    <geometry id="pCylinderShape1" name="pCylinderShape1">
      <mesh>
        <source id="pCylinderShape1-positions" name="position">
          <float_array id="pCylinderShape1-positions-array" count="126">20 -90 -34.641
 -20 -90 -34.641 -40 -90 -0.000005 -20 -90 34.641 20 -90 34.641 40 -90 0 20 -60 -34.641
 -20 -60 -34.641 -40 -60 -0.000005 -20 -60 34.641 20 -60 34.641 40 -60 0 20 -30 -34.641
 -20 -30 -34.641 -40 -30 -0.000005 -20 -30 34.641 20 -30 34.641 40 -30 0 20 0 -34.641
 -20 0 -34.641 -40 0 -0.000005 -20 0 34.641 20 0 34.641 40 0 0 20 30 -34.641 -20 30 -34.641
 -40 30 -0.000005 -20 30 34.641 20 30 34.641 40 30 0 20 60 -34.641 -20 60 -34.641
 -40 60 -0.000005 -20 60 34.641 20 60 34.641 40 60 0 20 90 -34.641 -20 90 -34.641
 -40 90 -0.000005 -20 90 34.641 20 90 34.641 40 90 0</float_array>
          <technique_common>
            <accessor source="#pCylinderShape1-positions-array" count="42" stride="3">
              <param name="X" type="float"></param>
              <param name="Y" type="float"></param>
              <param name="Z" type="float"></param>
            </accessor>
          </technique_common>
        </source>
        <source id="pCylinderShape1-normals" name="normal">
          <float_array id="pCylinderShape1-normals-array" count="288">0.000000 0 -1
 0.000000 0 -1 0.000000 0 -1 0.000000 0 -1 -0.866025 0 -0.5 -0.866025 0 -0.5
 -0.866025 0 -0.5 -0.866025 0 -0.5 -0.866026 0 0.5 -0.866026 0 0.5 -0.866026 0 0.5
 -0.866026 0 0.5 0 0 1 0 0 1 0 0 1 0 0 1 0.866026 0 0.5 0.866026 0 0.5 0.866025 0 0.5
 0.866025 0 0.5 0.866026 0 -0.5 0.866026 0 -0.5 0.866026 0 -0.5 0.866026 0 -0.5
 0.000000 0 -1 0.000000 0 -1 -0.866025 0 -0.5 -0.866025 0 -0.5 -0.866026 0 0.5
 -0.866026 0 0.5 0 0 1 0 0 1 0.866025 0 0.5 0.866025 0 0.5 0.866026 0 -0.5
 0.866026 0 -0.5 0.000000 0 -1 0.000000 0 -1 -0.866025 0 -0.5 -0.866025 0 -0.5
 -0.866026 0 0.5 -0.866026 0 0.5 0 0 1 0 0 1 0.866025 0 0.5 0.866025 0 0.5
 0.866026 0 -0.5 0.866026 0 -0.5 0.000000 0 -1 0.000000 0 -1 -0.866025 0 -0.5
 -0.866025 0 -0.5 -0.866026 0 0.5 -0.866026 0 0.5 0 0 1 0 0 1 0.866025 0 0.5
 0.866025 0 0.5 0.866026 0 -0.5 0.866026 0 -0.5 0.000000 0 -1 0.000000 0 -1
 -0.866025 0 -0.5 -0.866025 0 -0.5 -0.866026 0 0.5 -0.866026 0 0.5 0 0 1 0 0 1
 0.866025 0 0.5 0.866025 0 0.5 0.866026 0 -0.5 0.866026 0 -0.5 0.000000 0 -1
 0.000000 0 -1 -0.866025 0 -0.5 -0.866025 0 -0.5 -0.866026 0 0.5 -0.866026 0 0.5
 0 0 1 0 0 1 0.866026 0 0.5 0.866026 0 0.5 0.866026 0 -0.5 0.866026 0 -0.5 0 -1 0
 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0</float_array>
          <technique_common>
            <accessor source="#pCylinderShape1-normals-array" count="96" stride="3">
              <param name="X" type="float"></param>
              <param name="Y" type="float"></param>
              <param name="Z" type="float"></param>
            </accessor>
          </technique_common>
        </source>
        <source id="pCylinderShape1-map1" name="map1">
          <float_array id="pCylinderShape1-map1-array" count="122">0.578125 0.020933 0.421875
 0.020933 0.34375 0.15625 0.421875 0.291566 0.578125 0.291566 0.65625 0.15625 0.375 0.3125
 0.416667 0.3125 0.458333 0.3125 0.5 0.3125 0.541667 0.3125 0.583333 0.3125 0.625 0.3125 0.375
 0.375157 0.416667 0.375157 0.458333 0.375157 0.5 0.375157 0.541667 0.375157 0.583333 0.375157
 0.625 0.375157 0.375 0.437813 0.416667 0.437813 0.458333 0.437813 0.5 0.437813 0.541667
 0.437813 0.583333 0.437813 0.625 0.437813 0.375 0.50047 0.416667 0.50047 0.458333 0.50047
 0.5 0.50047 0.541667 0.50047 0.583333 0.50047 0.625 0.50047 0.375 0.563127 0.416667 0.563127
 0.458333 0.563127 0.5 0.563127 0.541667 0.563127 0.583333 0.563127 0.625 0.563127 0.375
 0.625783 0.416667 0.625783 0.458333 0.625783 0.5 0.625783 0.541667 0.625783 0.583333 0.625783
 0.625 0.625783 0.375 0.68844 0.416667 0.68844 0.458333 0.68844 0.5 0.68844 0.541667 0.68844
 0.583333 0.68844 0.625 0.68844 0.578125 0.708434 0.421875 0.708434 0.34375 0.84375 0.421875
 0.979066 0.578125 0.979066 0.65625 0.84375</float_array>
          <technique_common>
            <accessor source="#pCylinderShape1-map1-array" count="61" stride="2">
              <param name="S" type="float"></param>
              <param name="T" type="float"></param>
            </accessor>
          </technique_common>
        </source>
        <vertices id="pCylinderShape1-vertices">
          <input semantic="POSITION" source="#pCylinderShape1-positions"></input>
        </vertices>
        <polylist material="initialShadingGroup" count="38">
          <input semantic="VERTEX" source="#pCylinderShape1-vertices" offset="0"></input>
          <input semantic="NORMAL" source="#pCylinderShape1-normals" offset="1"></input>
          <input semantic="TEXCOORD" source="#pCylinderShape1-map1" offset="2" set="0"></input>
          <vcount>4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 6 6</vcount>
          <p>0 0 6 1 1 7 7 2 14 6 3 13 1 4 7 2 5 8 8 6 15 7 7 14 2 8 8 3 9 9 9 10 16 8 11
 15 3 12 9 4 13 10 10 14 17 9 15 16 4 16 10 5 17 11 11 18 18 10 19 17 5 20 11 0 21 12 6 22 19 11
 23 18 6 3 13 7 2 14 13 24 21 12 25 20 7 7 14 8 6 15 14 26 22 13 27 21 8 11 15 9 10 16 15 28 23
 14 29 22 9 15 16 10 14 17 16 30 24 15 31 23 10 19 17 11 18 18 17 32 25 16 33 24 11 23 18 6 22 19
 12 34 26 17 35 25 12 25 20 13 24 21 19 36 28 18 37 27 13 27 21 14 26 22 20 38 29 19 39 28 14 29
 22 15 28 23 21 40 30 20 41 29 15 31 23 16 30 24 22 42 31 21 43 30 16 33 24 17 32 25 23 44 32 22
 45 31 17 35 25 12 34 26 18 46 33 23 47 32 18 37 27 19 36 28 25 48 35 24 49 34 19 39 28 20 38 29
 26 50 36 25 51 35 20 41 29 21 40 30 27 52 37 26 53 36 21 43 30 22 42 31 28 54 38 27 55 37 22 45
 31 23 44 32 29 56 39 28 57 38 23 47 32 18 46 33 24 58 40 29 59 39 24 49 34 25 48 35 31 60 42 30
 61 41 25 51 35 26 50 36 32 62 43 31 63 42 26 53 36 27 52 37 33 64 44 32 65 43 27 55 37 28 54 38
 34 66 45 33 67 44 28 57 38 29 56 39 35 68 46 34 69 45 29 59 39 24 58 40 30 70 47 35 71 46 30 61
 41 31 60 42 37 72 49 36 73 48 31 63 42 32 62 43 38 74 50 37 75 49 32 65 43 33 64 44 39 76 51 38
 77 50 33 67 44 34 66 45 40 78 52 39 79 51 34 69 45 35 68 46 41 80 53 40 81 52 35 71 46 30 70 47
 36 82 54 41 83 53 0 84 0 5 85 5 4 86 4 3 87 3 2 88 2 1 89 1 36 90 59 37 91 58 38 92 57 39 93 56
 40 94 55 41 95 60</p>
        </polylist>
      </mesh>
      <extra>
        <technique profile="MAYA">
          <double_sided>1</double_sided>
        </technique>
      </extra>
    </geometry>
  </library_geometries>
  <library_controllers>
  <!-- *******************************************************************************************
  This is the start of the controller that takes the geometry in pCylinderShape1 and defines
  how to skin it.
  ******************************************************************************************* -->
    <controller id="pCylinderShape1-skin" name="skinCluster1">
      <skin source="#pCylinderShape1">
  <!-- *******************************************************************************************
  The bind shape matrix describes how to transform the pCylinderShape1 geometry into the right
  coordinate system for use with the joints.  In this case we do an +90 Y transform because
  the pCylinderShape1 geometry was initially a 180 unit long cylinder with 0,0,0 at it's center.
  This moves it so 0,0,0 is at the base of the cylinder.
  ******************************************************************************************* -->
        <bind_shape_matrix>
          1 0 0 0 
          0 1 0 90 
          0 0 1 0 
          0 0 0 1
        </bind_shape_matrix>
  <!-- *******************************************************************************************
  This source contains a list of the SIDs of the 7 joints that will influence the skin.  You
  can also use an IDREF_Array here but use of SIDs is preferred because they allow a controller
  to be used several times with different skeletons.
  ******************************************************************************************* -->
        <source id="pCylinderShape1-skin-joints">
          <Name_array id="pCylinderShape1-skin-joints-array" count="7">joint1 joint2 joint3
 joint4 joint5 joint6 joint7</Name_array>
          <technique_common>
            <accessor source="#pCylinderShape1-skin-joints-array" count="7" stride="1">
              <param name="JOINT" type="Name"></param>
            </accessor>
          </technique_common>
        </source>
  <!-- *******************************************************************************************
  This source defines the inverse bind matrix for each joint, these are used to bring 
  coordinates being skinned into the same space as each joint.  Note that in this case the
  joints begin at 0,0,0 and move up 30 units for each joint, so the inverse bind matrices
  are the opposite of that.
  ******************************************************************************************* -->
        <source id="pCylinderShape1-skin-bind_poses">
          <float_array id="pCylinderShape1-skin-bind_poses-array" count="112">
            1 0 0 0 
            0 1 0 0 
            0 0 1 0 
            0 0 0 1 
 
            1 0 0 0 
            0 1 0 -30 
            0 0 1 0 
            0 0 0 1 
 
            1 0 0 0 
            0 1 0 -60 
            0 0 1 0 
            0 0 0 1 
 
            1 0 0 0 
            0 1 0 -90 
            0 0 1 0 
            0 0 0 1 
 
            1 0 0 0 
            0 1 0 -120 
            0 0 1 0 
            0 0 0 1 
 
            1 0 0 0 
            0 1 0 -150 
            0 0 1 0 
            0 0 0 1 
 
            1 0 0 0 
            0 1 0 -180 
            0 0 1 0 
            0 0 0 1
          </float_array>
          <technique_common>
            <accessor source="#pCylinderShape1-skin-bind_poses-array" count="7" stride="16">
              <param name="TRANSFORM" type="float4x4"></param>
            </accessor>
          </technique_common>
        </source>
  <!-- *******************************************************************************************
  This source defines a weight for each vertex and each joint.  The weight defines how much
  a particular joint will contribute to moving a particular vertex's position.  This allows
  several joints to influence vertices by different amounts, giving a nice smooth bend.
  Since there are 42 vertices and 7 joints there should be at most 294 weights.  In this case
  the skinning algorithm was told that each vertex should be effected by the 5 nearest joints
  so we have 5 weights per vertex giving a total of 210.  Maya has thrown in an extra weight
  of 1 at the beginning giving us a total of 211.
  Weights 1-6 will be applied to the first vertex, you can see how they work.  The first weight
  represents the closest joint to the vertex and has the largest value, the remaining 4 weights
  get smaller and smaller as the associated joint gets farther from the vertex.
  ******************************************************************************************* -->
        <source id="pCylinderShape1-skin-weights">
          <float_array id="pCylinderShape1-skin-weights-array" count="211">1 0.648726 0.265718
 0.061417 0.01765 0.006487 0.648726 0.265718 0.061417 0.01765 0.006487 0.648726 0.265718
 0.061417 0.01765 0.006487 0.648726 0.265718 0.061417 0.01765 0.006487 0.648726 0.265718
 0.061417 0.01765 0.006487 0.648726 0.265718 0.061417 0.01765 0.006487 0.395025 0.395025
 0.161802 0.037398 0.010747 0.395025 0.395025 0.161802 0.037398 0.010747 0.395025 0.395025
 0.161802 0.037398 0.010747 0.395025 0.395025 0.161802 0.037398 0.010747 0.395025 0.395025
 0.161802 0.037398 0.010747 0.395025 0.395025 0.161802 0.037398 0.010747 0.140569 0.343186
 0.343186 0.140569 0.032491 0.140569 0.343186 0.343186 0.140569 0.032491 0.140569 0.343186
 0.343186 0.140569 0.032491 0.140569 0.343186 0.343186 0.140569 0.032491 0.140569 0.343186
 0.343186 0.140569 0.032491 0.140569 0.343186 0.343186 0.140569 0.032491 0.032491 0.140569
 0.343186 0.343186 0.140569 0.032491 0.140569 0.343186 0.343186 0.140569 0.032491 0.140569
 0.343186 0.343186 0.140569 0.032491 0.140569 0.343186 0.343186 0.140569 0.032491 0.140569
 0.343186 0.343186 0.140569 0.032491 0.140569 0.343186 0.343186 0.140569 0.140569 0.343186
 0.343186 0.140569 0.032491 0.140569 0.343186 0.343186 0.140569 0.032491 0.032491 0.140569
 0.343186 0.343186 0.140569 0.032491 0.140569 0.343186 0.343186 0.140569 0.032491 0.140569
 0.343186 0.343186 0.140569 0.032491 0.140569 0.343186 0.343186 0.140569 0.032491 0.140569
 0.343186 0.343186 0.140569 0.032491 0.140569 0.343186 0.343186 0.140569 0.032491 0.140569
 0.343186 0.343186 0.140569 0.032491 0.140569 0.343186 0.343186 0.140569 0.032491 0.140569
 0.343186 0.343186 0.140569 0.032491 0.140569 0.343186 0.343186 0.140569 0.010747 0.037398
 0.161802 0.395025 0.395025 0.010747 0.037398 0.161802 0.395025 0.395025 0.010747 0.037398
 0.161802 0.395025 0.395025 0.010747 0.037398 0.161802 0.395025 0.395025 0.010747 0.037398
 0.161802 0.395025 0.395025 0.010747 0.037398 0.161802 0.395025 0.395025</float_array>
          <technique_common>
            <accessor source="#pCylinderShape1-skin-weights-array" count="211" stride="1">
              <param name="WEIGHT" type="float"></param>
            </accessor>
          </technique_common>
        </source>
        <joints>
          <input semantic="JOINT" source="#pCylinderShape1-skin-joints"></input>
          <input semantic="INV_BIND_MATRIX" source="#pCylinderShape1-skin-bind_poses"></input>
        </joints>
  <!-- *******************************************************************************************
  The vertex_weights tag associates the weights and joints from the previously defined
  sources with the vertices in the geometry being skinned.  Each entry in this list matches
  a vertex in the original geometry, so the count here should be the same as the count
  in the geometry being skinned.
  Each weight/joint pair is referred to as an "influence", a vertex can have any number of
  influences applied to it.  The <vcount> value for a vertex defines the number of influences 
  on that vertex.  In this case every vertex has 5 influences.  The values in the <v> array
  are the indices of the joint and weight that make up that influence.
  ******************************************************************************************* -->
        <vertex_weights count="42">
          <input semantic="JOINT" source="#pCylinderShape1-skin-joints" offset="0"></input>
          <input semantic="WEIGHT" source="#pCylinderShape1-skin-weights" offset="1"></input>
          <vcount>5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5
 5 5 5 5 5 5 5 5 5 5 5 5 </vcount>
          <v>0 1 1 2 2 3 3 4 4 5 0 6 1 7 2 8 3 9 4 10 0 11 1 12 2 13 3 14 4 15 0 16 1 17 2
 18 3 19 4 20 0 21 1 22 2 23 3 24 4 25 0 26 1 27 2 28 3 29 4 30 0 31 1 32 2 33 3 34 4 35 0
 36 1 37 2 38 3 39 4 40 0 41 1 42 2 43 3 44 4 45 0 46 1 47 2 48 3 49 4 50 0 51 1 52 2 53 3
 54 4 55 0 56 1 57 2 58 3 59 4 60 0 61 1 62 2 63 3 64 4 65 0 66 1 67 2 68 3 69 4 70 0 71 1
 72 2 73 3 74 4 75 0 76 1 77 2 78 3 79 4 80 0 81 1 82 2 83 3 84 4 85 0 86 1 87 2 88 3 89 4
 90 0 91 1 92 2 93 3 94 4 95 0 96 1 97 2 98 3 99 4 100 0 101 1 102 2 103 3 104 4 105 0 106 1
 107 2 108 3 109 4 110 0 111 1 112 2 113 3 114 4 115 0 116 1 117 2 118 3 119 4 120 2 121 3
 122 4 123 5 124 6 125 2 126 3 127 4 128 5 129 6 130 1 131 2 132 3 133 4 134 5 135 1 136 2
 137 3 138 4 139 5 140 1 141 2 142 3 143 4 144 5 145 1 146 2 147 3 148 4 149 5 150 2 151 3
 152 4 153 5 154 6 155 2 156 3 157 4 158 5 159 6 160 2 161 3 162 4 163 5 164 6 165 2 166 3
 167 4 168 5 169 6 170 2 171 3 172 4 173 5 174 6 175 2 176 3 177 4 178 5 179 6 180 2 181 3
 182 4 183 5 184 6 185 2 186 3 187 4 188 5 189 6 190 2 191 3 192 4 193 5 194 6 195 2 196 3
 197 4 198 5 199 6 200 2 201 3 202 4 203 5 204 6 205 2 206 3 207 4 208 5 209 6 210</v>
        </vertex_weights>
      </skin>
    </controller>
  </library_controllers>
  <library_visual_scenes>
    <visual_scene id="VisualSceneNode" name="bind_sample">
  <!-- *******************************************************************************************
  This is the node hierarchy that represents the skeleton of the skinned object.
  The first node has an ID to act as a starting point for SID searches, the rest
  of the nodes in the hierarchy only need SIDs.  It is preferable to use SIDs to
  identify the joints of the skeleton because it allows the skin controller to be
  used several times with different skeletons.  For example we could have a second
  joint hierarchy using the same SIDs but with a different id (like skeleton2_root)
  on the first node and different transforms.  
  In this example the root joint of the skeleton is 20 units above the ground.  
  All the other joints are 30 units apart in the Y direction.
  ******************************************************************************************* -->
      <node id="skeleton_root" name="joint1" sid="joint1" type="JOINT">
        <translate sid="translate">0 20 0</translate>
        <rotate sid="jointOrientZ">0 0 1 0</rotate>
        <rotate sid="jointOrientY">0 1 0 0</rotate>
        <rotate sid="jointOrientX">1 0 0 0</rotate>
  <!-- *******************************************************************************************
  Some people try to put the instance_controller here.  This will not work correctly for
  a skin because the skinning process has already transformed all the vertices using the
  full transform in the joints that the skin controller references. This means the data
  coming out of the instance_controller is effectively in world space.  If we put the 
  instance_controller here, the geometry coming out of it would be transformed (again) by 
  this node, moving it up an additional 20 units. 
  ******************************************************************************************* -->
        <node name="joint2" sid="joint2" type="JOINT">
          <translate sid="translate">0 30 0</translate>
          <rotate sid="jointOrientZ">0 0 1 0</rotate>
          <rotate sid="jointOrientY">0 1 0 0</rotate>
          <rotate sid="jointOrientX">1 0 0 0</rotate>
          <node name="joint3" sid="joint3" type="JOINT">
            <translate sid="translate">0 30 0</translate>
            <rotate sid="jointOrientZ">0 0 1 0</rotate>
            <rotate sid="jointOrientY">0 1 0 0</rotate>
            <rotate sid="jointOrientX">1 0 0 0</rotate>
            <node name="joint4" sid="joint4" type="JOINT">
              <translate sid="translate">0 30 0</translate>
              <rotate sid="jointOrientZ">0 0 1 0</rotate>
              <rotate sid="jointOrientY">0 1 0 0</rotate>
              <rotate sid="jointOrientX">1 0 0 0</rotate>
              <node name="joint5" sid="joint5" type="JOINT">
                <translate sid="translate">0 30 0</translate>
                <rotate sid="jointOrientZ">0 0 1 0</rotate>
                <rotate sid="jointOrientY">0 1 0 0</rotate>
                <rotate sid="jointOrientX">1 0 0 0</rotate>
                <rotate sid="rotateZ">0 0 1 1.22906</rotate>
                <node name="joint6" sid="joint6" type="JOINT">
                  <translate sid="translate">0 30 0</translate>
                  <rotate sid="jointOrientZ">0 0 1 0</rotate>
                  <rotate sid="jointOrientY">0 1 0 0</rotate>
                  <rotate sid="jointOrientX">1 0 0 0</rotate>
                  <node name="joint7" sid="joint7" type="JOINT">
                    <translate sid="translate">0 30 0</translate>
                    <rotate sid="jointOrientZ">0 0 1 0</rotate>
                    <rotate sid="jointOrientY">0 1 0 0</rotate>
                    <rotate sid="jointOrientX">1 0 0 0</rotate>
                  </node>
                </node>
              </node>
            </node>
          </node>
        </node>
      </node>
  <!-- *******************************************************************************************
  This node is where the skinned geometry is instantiated.  The geometry that comes out
  of a skin controller has already been transformed by the joints referenced in the skin
  which puts the geometry in world space.  This is why we are instantiating the skin at
  the root of the hierarchy rather than up in the "skeleton_root" node
  ******************************************************************************************* -->
      <node id="pCylinder1" name="pCylinder1" type="NODE">
        <instance_controller url="#pCylinderShape1-skin">
  <!-- *******************************************************************************************
  The skeleton tag tells the controller where it should start searching for any SIDs found
  in the skin.  This allows the same controller to be re-used with different joint hierarchies.
  ******************************************************************************************* -->
          <skeleton>#skeleton_root</skeleton>
          <bind_material>
            <technique_common>
              <instance_material symbol="initialShadingGroup" target="#lambert1"></instance_material>
            </technique_common>
          </bind_material>
        </instance_controller>
      </node>
      <extra>
        <technique profile="FCOLLADA">
          <start_time>0.041666</start_time>
          <end_time>2</end_time>
        </technique>
      </extra>
    </visual_scene>
  </library_visual_scenes>
  <scene>
    <instance_visual_scene url="#VisualSceneNode"></instance_visual_scene>
  </scene>
 </COLLADA>